Nodes for IK and FK fix

Edit logic node code

fkcommit30_04

Upgrade bone IK node. Add comments

Sources/armory/logicnode/BoneFKNode.hx

@@ -28,17 +28,20 @@ class BoneFKNode extends LogicNode {
 
 		// Manipulating bone in world space
 		var bone = anim.getBone(boneName);
-		m = anim.getBoneMat(bone);
-		w = anim.getAbsMat(bone);
+		/* m = anim.getBoneMat(bone);
+		w = anim.getAbsMat(bone); */
 
 		function moveBone() {
-			m.setFrom(w);
+			/* m.setFrom(w);
 			m.multmat(transform);
 			iw.getInverse(w);
-			m.multmat(iw);
+			m.multmat(iw); */
+			//trace("Perform FK");
+			anim.setBoneMatFromWorldMat(transform.clone(), bone);
 
-			// anim.removeUpdate(moveBone);
-			// notified = false;
+			anim.removeUpdate(moveBone);
+			//trace("FK removed");
+			notified = false;
 		}
 
 		if (!notified) {

Sources/armory/logicnode/BoneIKNode.hx

@@ -7,6 +7,13 @@ import iron.math.Vec4;
 class BoneIKNode extends LogicNode {
 
 	var goal: Vec4;
+	var pole: Vec4;
+	var poleEnabled: Bool;
+	var chainLength: Int;
+	var maxIterartions: Int;
+	var precision: Float;
+	var rollAngle: Float;
+
 	var notified = false;
 
 	public function new(tree: LogicTree) {
@@ -19,6 +26,12 @@ class BoneIKNode extends LogicNode {
 		var object: Object = inputs[1].get();
 		var boneName: String = inputs[2].get();
 		goal = inputs[3].get();
+		poleEnabled = inputs[4].get();
+		pole = inputs[5].get();
+		chainLength = inputs[6].get();
+		maxIterartions = inputs[7].get();
+		precision = inputs[8].get();
+		rollAngle = inputs[9].get();
 
 		if (object == null || goal == null) return;
 		var anim = object.animation != null ? cast(object.animation, BoneAnimation) : null;
@@ -26,11 +39,13 @@ class BoneIKNode extends LogicNode {
 
 		var bone = anim.getBone(boneName);
 
-		function solveBone() {
-			anim.solveIK(bone, goal);
+		if(! poleEnabled) pole = null;
 
-			// anim.removeUpdate(solveBone);
-			// notified = false;
+		function solveBone() {
+			anim.solveIK(bone, goal, precision, maxIterartions, chainLength, pole, rollAngle);
+
+			anim.removeUpdate(solveBone);
+			notified = false;
 		}
 
 		if (!notified) {

blender/arm/logicnode/animation/LN_bone_ik.py

@@ -1,10 +1,29 @@
 from arm.logicnode.arm_nodes import *
 
 class BoneIKNode(ArmLogicTreeNode):
-    """Applies inverse kinematics in the given object bone."""
+    """Performs inverse kinematics on the selected armature with specified bone.
+    
+    @input Object: Armature on which IK should be performed.
+
+    @input Bone: Effector or tip bone for the inverse kinematics
+
+    @input Goal Position: Position in world coordinates the effector bone will track to
+
+    @input Enable Pole: Bend IK solution towards pole location
+
+    @input Pole Position: Location of the pole in world coordinates
+
+    @input Chain Length: Number of bones to include in the IK solver including the effector. If set to 0, all bones from effector to the root bone of the armature will be considered.
+    
+    @input Max Iterations: Maximum allowed FABRIK iterations to solve for IK. For longer chains, more iterations are needed.
+
+    @input Precision: Presition of IK to stop at. It is described as a tolerence in length. Typically 0.01 is a good value.
+
+    @input Roll Angle: Roll the bones along their local axis with specified radians. set 0 for no extra roll.
+    """
     bl_idname = 'LNBoneIKNode'
     bl_label = 'Bone IK'
-    arm_version = 1
+    arm_version = 2
     arm_section = 'armature'
 
     def init(self, context):
@@ -12,6 +31,22 @@ class BoneIKNode(ArmLogicTreeNode):
         self.add_input('ArmNodeSocketAction', 'In')
         self.add_input('ArmNodeSocketObject', 'Object')
         self.add_input('NodeSocketString', 'Bone')
-        self.add_input('NodeSocketVector', 'Goal')
+        self.add_input('NodeSocketVector', 'Goal Position')
+        self.add_input('NodeSocketBool', 'Enable Pole')
+        self.add_input('NodeSocketVector', 'Pole Position')
+        self.add_input('NodeSocketInt', 'Chain Length')
+        self.add_input('NodeSocketInt', 'Max Iterations', 10)
+        self.add_input('NodeSocketFloat', 'Precision', 0.01)
+        self.add_input('NodeSocketFloat', 'Roll Angle')
+
 
         self.add_output('ArmNodeSocketAction', 'Out')
+
+    def get_replacement_node(self, node_tree: bpy.types.NodeTree):
+        if self.arm_version not in (0, 1):
+            raise LookupError()
+        
+        return NodeReplacement(
+            'LNBoneIKNode', self.arm_version, 'LNBoneIKNode', 2,
+            in_socket_mapping={0:0, 1:1, 2:2, 3:3}, out_socket_mapping={0:0}
+        )